A copper sheet conveying device

Abstract

This invention relates to a copper sheet conveying device, comprising a first conveying component, a second conveying component, and a track width adjustment mechanism; the first and second conveying components are symmetrically arranged; the track width adjustment mechanism includes a guide component and an adjustment component, with at least one guide component disposed on each side of the first conveying component; the adjustment component includes a first lead screw nut, a second lead screw nut, a first bidirectional lead screw, a handwheel, and a lead screw mounting bracket; the first lead screw nut is connected to the first conveying component, the second lead screw nut is connected to the second conveying component, the first and second lead screw nuts are respectively sleeved on both sides of the first bidirectional lead screw, the handwheel is fixedly connected to one end of the first bidirectional lead screw, and both sides of the first bidirectional lead screw are rotatably connected to the lead screw mounting bracket. The copper sheet conveying device obtained by this invention has the following advantages: it simplifies production line adjustments and facilitates rapid input for testing after changing copper sheet specifications.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and in particular to a copper sheet conveying device. Background Technology

[0002] As a chip carrier for integrated circuits, the lead frame is a key structural component that uses bonding materials to achieve electrical connection between the internal circuit leads of the chip and the external leads, forming an electrical circuit. It acts as a bridge connecting to external wires. Most semiconductor integrated circuits require the use of lead frames, making it an important basic material in the electronics and information industry.

[0003] However, most lead frame testing equipment on the market currently has a relatively limited testing specifications, and can only test a few types of lead frames that are not significantly different. The few testing equipment that can adjust the testing specifications have a complex structure, which is extremely inconvenient to adjust and requires a long time, thus reducing production efficiency and failing to meet the needs of batch testing of products with multiple specifications. Summary of the Invention

[0004] One objective of this application is to provide a copper sheet conveying device that is suitable for conveying copper sheets of different specifications.

[0005] Another objective of this application is to provide a copper sheet conveying device that can be quickly put into use after adjustment of specifications.

[0006] The technical solution adopted in this application is: a copper sheet conveying device, comprising...

[0007] The first transmission component is used for placing and conveying the product at one end;

[0008] The second transport component is used for placing and transporting the product at the other end;

[0009] The track width adjustment mechanism is used to adjust the distance between the first transmission component and the second transmission component;

[0010] The first and second transmission components are arranged symmetrically.

[0011] The track width adjustment mechanism includes a guide component and an adjustment component. At least two guide components are provided, with at least one guide component provided on each side of the first transmission component.

[0012] The guiding direction of the guiding component is perpendicular to the conveying direction of the first conveying component;

[0013] The adjustment assembly includes a first lead screw nut, a second lead screw nut, a first bidirectional lead screw, a handwheel, and a lead screw mounting bracket. The first lead screw nut is connected to the first transmission assembly, and the second lead screw nut is connected to the second transmission assembly. The first lead screw nut and the second lead screw nut are respectively sleeved on both sides of the first bidirectional lead screw. The handwheel is fixedly connected to one end of the first bidirectional lead screw, and both sides of the first bidirectional lead screw are rotatably connected to the lead screw mounting bracket.

[0014] Compared with existing technologies, the advantages of this application are that the first and second transmission components adopt a mirror-symmetric structure, with identical symmetrical structures, allowing both to operate independently. Width adjustment between the first and second transmission components can be performed directly without altering the connection structure and without affecting overall operation. One guide component is located on each of the left and right sides, ensuring reliable movement on both sides, preventing lateral swaying, and distributing pressure on the guide components to both sides, resulting in good overall stability. The adjustment component is positioned between the guide components on both sides, allowing width adjustment between the first and second transmission components to be driven from the middle, resulting in more stable movement. The use of a first bidirectional lead screw allows the first and second transmission components to move synchronously inward or outward, ensuring the symmetry plane remains unchanged. This means that the loading / unloading robots and detection devices only need to align with the symmetry plane of the first and second transmission components; subsequent track width adjustments do not require repositioning, simplifying production line adjustments and facilitating rapid input for testing after changing copper sheet specifications.

[0015] In some embodiments of this application, the guide assembly includes a first slider, a second slider, and a first slide rail. The first slider is fixedly connected to a first transmission assembly, the second slider is fixedly connected to a second transmission assembly, the first slider is slidably connected to the first slide rail, and the second slider is slidably connected to the first slide rail. The length direction of the first slide rail is parallel to the length direction of the first bidirectional lead screw.

[0016] In some embodiments of this application, the first transmission component includes a side plate, a conveyor belt, a pulley, and a first motor. The side plate is disposed on the outer side relative to the conveyor belt. The first motor is connected to the pulley via the conveyor belt. The pulley is rotatably connected to the side plate. The first lead screw nut is connected to the side plate.

[0017] Furthermore, a discharge plate is provided at the end of the side plate, and the top surface of the discharge plate is lower than the top surface of the end of the conveyor belt.

[0018] Furthermore, the side plate has a top block at its end, and a telescopic rod is provided on the top block. The telescopic rod is connected to the top block by a thread, and the top blocks of the first transmission assembly and the second transmission assembly abut against each other. The side plate has a long groove arranged along the conveying direction, and the telescopic rod passes through the long groove and is connected to the side plate. A handle is provided at the end of the telescopic rod away from the top block.

[0019] In some embodiments of this application, the first bidirectional lead screw is provided with a locking mechanism to prevent the first bidirectional lead screw from rotating; the locking mechanism includes a clamp, which is sleeved on the first bidirectional lead screw and fixedly connected to the lead screw mounting bracket.

[0020] Furthermore, it also includes a centering feeding mechanism for centering the product to be fed; the centering feeding mechanism includes a third slider, a fourth slider, a second slide rail, and a second bidirectional lead screw. The third slider is slidably connected to the second slide rail, and the fourth slider is slidably connected to the second slide rail. The third slider and the fourth slider are provided with a pushing member. The top surface height of the pushing member is lower than the top surface height of the end of the conveyor belt, and the top surface height of the pushing member is higher than the top surface height of the feeding plate. The pushing member is located between the first transmission component and the second transmission component. The third slider is connected to the second bidirectional lead screw through a third lead screw nut, and the fourth slider is connected to the second bidirectional lead screw through a fourth lead screw nut. One end of the second bidirectional lead screw is provided with a second motor to drive the second bidirectional lead screw.

[0021] In some embodiments of this application, a feeding mechanism, a feeding robot mechanism, and a control device are also included; the feeding mechanism is provided with at least two hoppers. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of Embodiment 1 of the present invention without the second transmission component;

[0024] Figure 3 This is a schematic diagram of the adjustment component according to Embodiment 1 of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of the guide component in Embodiment 1 of the present invention;

[0026] Figure 5 This is a schematic diagram of the locking mechanism of Embodiment 1 of the present invention;

[0027] Figure 6 This is a schematic diagram of the central feeding mechanism according to Embodiment 1 of the present invention;

[0028] Figure 7 This is a cross-sectional view of the centering feeding mechanism of Embodiment 1 of the present invention;

[0029] Figure 8 yes Figure 1 Enlarged view of part A in the image (after rotation);

[0030] Figure 9 This is a schematic diagram of the structure of Embodiment 2 of the present invention.

[0031] In the diagram: 1. First transmission assembly; 11. Side plate; 12. Conveyor belt; 13. Pulley; 14. First motor; 15. Feed plate; 16. Top block; 17. Telescopic rod; 18. Long trough; 19. Handle; 2. Second transmission assembly; 3. Track width adjustment mechanism; 4. Guide assembly; 41. First slider; 42. Second slider; 43. First slide rail; 5. Adjustment assembly; 51. First lead screw nut; 52. Second lead screw nut; 53. First bidirectional lead screw; 54. Handle 55. Wheel; 56. Screw mounting bracket; 57. First connecting block; 58. Second connecting block; 69. Locking mechanism; 60. Clamp; 61. Threaded hole; 62. Through hole; 63. Locking rod; 70. Centering feeding mechanism; 71. Third slider; 72. Fourth slider; 73. Second slide rail; 74. Second bidirectional screw; 75. Pushing component; 76. Third screw nut; 77. Fourth screw nut; 78. Second motor; 80. Feeding mechanism; 81. Hopper; 90. Feeding robot mechanism. Detailed Implementation

[0032] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0033] Example 1:

[0034] This embodiment provides a copper sheet conveying device, such as... Figure 1 , Figure 3 As shown, including

[0035] The first transmission component 1 is used for placing and conveying the product at one end;

[0036] The second transmission component 2 is used for placing and conveying the product at the other end;

[0037] The track width adjustment mechanism 3 is used to adjust the distance between the first transmission component 1 and the second transmission component 2;

[0038] The first transmission component 1 and the second transmission component 2 are arranged symmetrically.

[0039] The track width adjustment mechanism 3 includes a guide component 4 and an adjustment component 5. At least two guide components 4 are provided, and at least one guide component 4 is provided on each side of the first transmission component 1.

[0040] The guiding direction of the guide component 4 is perpendicular to the conveying direction of the first transmission component 1;

[0041] The adjustment assembly 5 includes a first lead screw nut 51, a second lead screw nut 52, a first bidirectional lead screw 53, a handwheel 54, and a lead screw mounting bracket 55. The first lead screw nut 51 is connected to the first transmission assembly 1, and the second lead screw nut 52 is connected to the second transmission assembly 2. The first lead screw nut 51 and the second lead screw nut 52 are respectively sleeved on both sides of the first bidirectional lead screw 53. The handwheel 54 is fixedly connected to one end of the first bidirectional lead screw 53, and both sides of the first bidirectional lead screw 53 are rotatably connected to the lead screw mounting bracket 55. In this embodiment, one guide assembly 4 is provided on each side of the first transmission assembly 1. The first lead screw nut 51 is connected to the first transmission assembly 1 through a first connecting block 56, and the second lead screw nut 52 is connected to the second transmission assembly 2 through a second connecting block 57.

[0042] The first transmission component 1 and the second transmission component 2 adopt a mirror-symmetric design, with identical symmetrical structures, allowing each to operate independently. The width between the first transmission component 1 and the second transmission component 2 can be directly adjusted without altering the connection structure and without affecting overall operation. One guide component 4 is located on each of the left and right sides, ensuring reliable movement on both sides, preventing lateral swaying, and distributing pressure to both sides for good overall stability. The adjustment component 5 is positioned between the guide components 4 on both sides, allowing the width adjustment between the first transmission component 1 and the second transmission component 2 to be driven from the middle, resulting in more stable movement. The use of the first bidirectional lead screw 53 allows the first transmission component 1 and the second transmission component 2 to move synchronously inward or outward, maintaining the symmetry plane. This means that the loading and unloading robots and inspection devices only need to align with the symmetry plane of the first transmission component 1 and the second transmission component 2; subsequent track width adjustments do not require repositioning, simplifying production line adjustments and facilitating rapid input for inspection after changing copper sheet specifications.

[0043] For reliable guidance, such as Figure 4As shown, the guide assembly 4 includes a first slider 41, a second slider 42, and a first slide rail 43. The first slider 41 is fixedly connected to the first transmission assembly 1, and the second slider 42 is fixedly connected to the second transmission assembly 2. The first slider 41 and the first slide rail 43 are slidably connected, and the second slider 42 and the first slide rail 43 are also slidably connected. The length direction of the first slide rail 43 is parallel to the length direction of the first bidirectional lead screw 53. The first slide rail 43 provides sliding guidance, ensuring that the first slider 41 and the second slider 42 can only slide along the direction of the first slide rail 43, and both the first slider 41 and the second slider 42 are on the first slide rail 43, ensuring that their movement directions are the same. The first slider 41 is used to connect to and guide the first transmission assembly 1; the second slider 42 is used to connect to and guide the second transmission assembly 2. The first slide rail 43 is set in the same direction as the first bidirectional lead screw 53, so that adjusting the track width only changes the width between the first transmission assembly 1 and the second transmission assembly 2, without changing the distance between the first transmission assembly 1 and the second transmission assembly 2 in the conveying direction, thus ensuring the symmetrical arrangement of the first transmission assembly 1 and the second transmission assembly 2.

[0044] For reliable delivery, such as Figure 2 As shown, the first transmission assembly 1 includes a side plate 11, a conveyor belt 12, a pulley 13, and a first motor 14. The side plate 11 is positioned on the outer side relative to the conveyor belt 12. The first motor 14 is connected to the pulley 13 via the conveyor belt 12. The pulley 13 is rotatably connected to the side plate 11. A first lead screw nut 51 is connected to the side plate 11. A first slider 41 is connected to the side plate 11. The side plate 11 provides installation space and, being positioned on the outer side, enhances protection. The conveyor belt 12 is used to transport copper sheets. The pulley 13 is used for transmission and steering of the conveyor belt 12. The first motor 14 provides the power to drive the conveyor belt 12. One end of the copper sheet is placed on the conveyor belt 12 of the first transmission assembly 1, and the other end is placed on the symmetrical second transmission assembly 2, so that only the bottom surfaces at both ends of the copper sheet are obstructed, allowing light to pass through for detection in the middle.

[0045] To ensure reliable conveying, a feed plate 15 is provided at the end of the side plate 11. The top surface of the feed plate 15 is lower than the top surface of the end of the conveyor belt 12. The distance between the conveyor belt 12 and the feed plate 15 is less than half the length of the product to prevent copper sheets from falling into the gap between the conveyor belt 12 and the feed plate 15. The unloading plate 15 is used for temporary placement of copper sheets after they have been conveyed by the conveyor belt 12, so that the robot can pick them up and unload them. During the conveying process of the copper sheets on the conveyor belt 12, the copper sheets may need to be pushed by the next copper sheet to move the previous copper sheet, so that the distance between the two copper sheets is very close. If visual inspection is performed on the copper sheets, the inspection of the back of the copper sheets will be blocked by the conveyor belt 12. Therefore, it is necessary to move the copper sheets by pushing them with the next copper sheet, which is separate from the conveyor belt 12. When the distance between the two copper sheets is close, it may cause mis-grabbing when the robot grabs them directly. The unloading plate 15 is lower than the conveyor belt 12, which creates a drop. After the center of gravity of the copper sheet leaves the conveyor belt 12, one end will be raised and the other end will fall onto the unloading plate 15. As the conveyor belt 12 moves, the copper sheet will be pushed onto the unloading plate 15, so that the copper sheet is separated from the previous copper sheet, which is convenient for unloading and picking.

[0046] To ensure the reliability of the end width, such as Figure 8 As shown, the side plate 11 has a top block 16 at its end, and a telescopic rod 17 on the top block 16. The telescopic rod 17 is threadedly connected to the top block 16, and the top blocks 16 of the first transmission assembly 1 and the second transmission assembly 2 abut against each other. The side plate 11 has a long groove 18 arranged along the conveying direction, and the telescopic rod 17 passes through the long groove 18 and connects to the side plate 11. A handle 19 is provided at the end of the telescopic rod 17 away from the top block 16. The top block 16 is also provided with an anti-rotation rod, one end of which passes through the long groove 18 and connects to the top block 16. The anti-rotation rod cooperates with the telescopic rod 17 to prevent the top block 16 from rotating and to fix the top block 16 more firmly. The side plate 11 is relatively long, and its end tends to bend inward, reducing its width and affecting the conveying of copper sheets. The design of the top block 16 ensures that the end of the side plate 11 is supported by two top blocks 16, preventing the width between the two side plates 11 from decreasing due to inward bending. The design of the telescopic rod 17 allows for adjustment of the distance between the top block 16 and the side plate 11, accommodating copper sheets of different specifications. During use, simply rotate the telescopic rod 17 to rotate it in or out relative to the top block 16 to adjust the distance. The design of the long slot 18 facilitates adjustment of the contact position of the top block 16 at its end, improving its applicability to copper sheets of different specifications. For example, if the copper sheet is large, the top block 16 can be moved outward; if the copper sheet is small, the top block 16 can be moved inward, ensuring the track width at the copper sheet position on the end unloading plate 15 and improving reliability. The design of the handle 19 facilitates the rotation of the telescopic rod 17, improving ease of use.

[0047] To ensure a stable and reliable track distance, such as Figure 5As shown, the first bidirectional lead screw 53 is provided with a locking mechanism 6, which is used to prevent the first bidirectional lead screw 53 from rotating. The locking mechanism 6 includes a clamp 61, which is sleeved on the first bidirectional lead screw 53 and fixedly connected to the lead screw mounting bracket 55. The clamp 61 can prevent the first bidirectional lead screw 53 from rotating by clamping the first bidirectional lead screw 53. In this embodiment, threaded holes 62 and through holes 63 are respectively provided on both sides of the opening of the clamp 61. The threaded holes 62 and through holes 63 are concentric. A locking rod 64 is provided on the threaded hole 62. One end of the locking rod 64 is connected to the threaded hole 62, and the other end passes through the through hole 63 and abuts against the outer surface of the clamp 61. By screwing the locking rod 64 into the threaded hole 62, both sides of the clamp 61 can move inward, so that the clamp 61 clamps tightly and completes the locking.

[0048] For reliable material feeding, such as Figure 6 , Figure 7 As shown, it also includes a centering feeding mechanism 7 for centering the product to be fed. The centering feeding mechanism 7 includes a third slider 71, a fourth slider 72, a second slide rail 73, and a second bidirectional lead screw 74. The third slider 71 is slidably connected to the second slide rail 73, and the fourth slider 72 is slidably connected to the second slide rail 73. The third slider 71 and the fourth slider 72 are provided with a pushing member 75. The top surface height of the pushing member 75 is lower than the top surface height of the end of the conveyor belt 12, and higher than the top surface height of the feeding plate 15. The pushing member 75 is disposed between the first transmission component 1 and the second transmission component 2. The third slider 71 is connected to the second bidirectional lead screw 74 through a third lead screw nut 76, and the fourth slider 72 is connected to the second bidirectional lead screw 74 through a fourth lead screw nut 77. One end of the second bidirectional lead screw 74 is provided with a second motor 78 for driving the second bidirectional lead screw 74. In this embodiment, the pushing member 75 is a straight rod. After being conveyed by conveyor belt 12, copper sheets of different specifications fall onto the unloading plate 15. However, the center positions of the copper sheets after falling are different, which is not convenient for subsequent robotic unloading. The design of the centering unloading mechanism 7 ensures that all copper sheets on the unloading plate 15 are placed in the center, making the center positions of the copper sheets the same, which is convenient for subsequent unloading and gripping. In use, the second motor 78 drives the second bidirectional lead screw 74 to rotate. The third slider 71 and the fourth slider 72 on the second bidirectional lead screw 74 move synchronously towards the center along the second slide rail 73. The pusher 75 on the third slider 71 and the fourth slider 72 pushes the copper sheets towards the center, completing the centering of the copper sheets.

[0049] Example 2:

[0050] This embodiment provides a copper sheet conveying device, which, for ease of use, such as... Figure 9As shown, in addition to the features described in Embodiment 1, it also includes a feeding mechanism 8, a feeding robot mechanism 9, and a control device; the feeding mechanism 8 is provided with at least two hoppers 81. In this embodiment, the feeding mechanism 8 is a hoist, and three hoppers 81 are provided. The feeding robot mechanism 9 is used to grab copper sheets in the hoppers 81 and transfer them to the copper sheet conveying device.

[0051] In operation, the copper sheet to be tested is placed into the lowest hopper 81 of the feeding mechanism 8. The feeding mechanism 8 is then activated, raising the hopper 81 to the feeding position. The feeding robot mechanism 9 picks up the copper sheet from the hopper 81 and places it onto the copper sheet conveying device for transport, facilitating copper sheet testing. The design of multiple hoppers 81 increases the amount of copper sheets that can be fed. When urgent testing is required, the feeding mechanism 8 can be paused via the control device, and the copper sheet to be tested urgently can be manually added to the hopper 81 at the working position. The number of sheets to be tested can also be manually increased via the control device, enabling queue-based testing of copper sheets. This device automates the feeding process, reducing the workload of workers and improving production efficiency.

[0052] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A copper sheet conveying device, characterized in that, include The first transmission component (1) is used for placing and conveying the product at one end; The second transmission component (2) is used for placing and conveying the product at the other end; The track width adjustment mechanism (3) is used to adjust the distance between the first transmission component (1) and the second transmission component (2); The first transmission component (1) and the second transmission component (2) are arranged symmetrically; The track width adjustment mechanism (3) includes a guide component (4) and an adjustment component (5), with at least two guide components (4); at least one guide component (4) is provided on each side of the first transmission component (1); The guiding direction of the guiding component (4) is perpendicular to the conveying direction of the first transmission component (1); The adjustment assembly (5) includes a first lead screw nut (51), a second lead screw nut (52), a first bidirectional lead screw (53), a handwheel (54), and a lead screw mounting bracket (55). The first lead screw nut (51) is connected to the first transmission assembly (1), and the second lead screw nut (52) is connected to the second transmission assembly (2). The first lead screw nut (51) and the second lead screw nut (52) are respectively sleeved on both sides of the first bidirectional lead screw (53). The handwheel (54) is connected and fixed to one end of the first bidirectional lead screw (53). The two sides of the first bidirectional lead screw (53) are rotatably connected to the lead screw mounting bracket (55). The first transmission component (1) includes a side plate (11), a conveyor belt (12), a pulley (13), and a first motor (14). The side plate (11) is disposed on the outside of the conveyor belt (12). The first motor (14) is connected to the pulley (13) via the conveyor belt (12). The pulley (13) is rotatably connected to the side plate (11). The first lead screw nut (51) is connected to the side plate (11). The end of the side plate (11) is provided with a discharge plate (15). The top surface of the discharge plate (15) is lower than the top surface of the end of the conveyor belt (12). It also includes a centering feeding mechanism (7) for centering the product to be fed; the centering feeding mechanism (7) includes a third slider (71), a fourth slider (72), a second slide rail (73), and a second bidirectional lead screw (74). The third slider (71) is slidably connected to the second slide rail (73), and the fourth slider (72) is slidably connected to the second slide rail (73). Pushing members (75) are provided on the third slider (71) and the fourth slider (72). The top surface of the pushing member (75) is lower than that of the conveyor belt (12). The top surface height of the pusher (75) is higher than the top surface height of the feed plate (15). The pusher (75) is located between the first transmission assembly (1) and the second transmission assembly (2). The third slider (71) is connected to the second bidirectional lead screw (74) through the third lead screw nut (76). The fourth slider (72) is connected to the second bidirectional lead screw (74) through the fourth lead screw nut (77). One end of the second bidirectional lead screw (74) is provided with a second motor (78) that drives the second bidirectional lead screw (74).

2. The copper sheet conveying device according to claim 1, characterized in that: The guide assembly (4) includes a first slider (41), a second slider (42), and a first slide rail (43). The first slider (41) is fixedly connected to the first transmission assembly (1), the second slider (42) is fixedly connected to the second transmission assembly (2), the first slider (41) is slidably connected to the first slide rail (43), and the second slider (42) is slidably connected to the first slide rail (43). The length direction of the first slide rail (43) is parallel to the length direction of the first bidirectional lead screw (53).

3. The copper sheet conveying device according to claim 1, characterized in that: The side plate (11) has a top block (16) at its end, and a telescopic rod (17) is provided on the top block (16). The telescopic rod (17) and the top block (16) are connected by threads. The top blocks (16) of the first transmission assembly (1) and the second transmission assembly (2) abut against each other. The side plate (11) has a long groove (18) arranged along the conveying direction. The telescopic rod (17) passes through the long groove (18) and is connected to the side plate (11). The end of the telescopic rod (17) away from the top block (16) has a handle (19).

4. The copper sheet conveying device according to claim 1, characterized in that: The first bidirectional lead screw (53) is provided with a locking mechanism (6), which is used to prevent the first bidirectional lead screw (53) from rotating; the locking mechanism (6) includes a clamp (61), which is sleeved on the first bidirectional lead screw (53) and is fixedly connected to the lead screw mounting bracket (55).

5. A copper sheet conveying device according to claim 1, characterized in that: It also includes a feeding mechanism (8), a feeding robot mechanism (9), and a control device; the feeding mechanism (8) is provided with at least two hoppers (81).

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